#pragma once
#include "robot_interfaces.h"
#include "sys_thread.hpp"

class KR3_interface : public RobotInterfaces 
{
    public:
        bool getCartesian(double *pose);

        bool setCartesian(const double *pose);

        bool getJoints(double *joints);

        bool setJoints(const double *joints);

        void getObj2World(double *pose);

        static KR3_interface &getInstance(){
            static KR3_interface instance; 
            return instance;
        }
    private:
        KR3_interface();
        ~KR3_interface();
};


